The answer
Jacob did indeed return safely back from Egypt. His spiritual return is not determined by his physical death. Before he died, Jacob made his beloved son Joseph swear that after his death, Joseph would not allow his father to be buried in Egypt, but to carry him back and bury him with his fathers. Having believed for years that his favored son was gone forever, Jacob had been heart-broken and thought he would go to his grave with this deep sorrow. Thus, we see how energized this frail elderly patriarch became when he learned that Joseph was still alive (Gen. 45:27-28). Jacob's safe return was fulfilled, for having died in peace in Egypt, the promise was kept, and he returned to lie with his fathers.
Answered by His Eminence Metropolitan Youssef (opens in a new tab)